Aiming at the problem of guidance law design for intercepting maneuvering targets with the impact angle constraint, a guidance law is designed considering missile’s dynamics of the autopilot based on the extended state observer and dynamic surface control methods. Considering that the change rate of the desired line of sight angle is proportional to the unknown target acceleration, the extended state observer is employed to estimate the unknown target acceleration. In order
to avoid the singularity problem and eliminate the influence of mismatched uncertainties on the system performance, the nonsingular terminal sliding mode control and dynamic surface control schemes are proposed for the guidance law design. Compared with the traditional guidance law which simply treats the unknown target acceleration as zero, the simulation results show that the proposed guidance law provides better interception performance.